The camera parameters for the Suburban bridge and Suburban sequences follow can be downloaded from here: Suburban.txt
The camera parameters for Trailer follow are available in here: Trailer.txt
Both parameter files follow the the OpenCV format. Have a look in here for more details: params.txt

Ground truth and gaze data

IMO ground truth data provided only for the Suburban bridge and Suburban follow sequences:Suburban_bridge (left and right camera),Suburban_follow (left and right camera).
Read the following file to know how to interpret the ground truth files: readme.txt

Gaze Data (eye movements of the driver) provided only for the Suburban Bridge sequence:Suburban-Bridge Gaze data.
Read the following file to know how to interpret the gaze data: readme.pdf